pykdl_installation_guide.md

PyKDL installation

TODO

• make it to be a install_pykdl.sh

Errors

$ python -c "import PyKDL"
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'PyKDL'

Guide & Problems

• https://github.com/orocos/orocos_kinematics_dynamics/blob/master/python_orocos_kdl/INSTALL.md

• Problems: existing method will only lead to installation with default Python

  $ locate PyKDL.so
  /usr/local/lib/python3/dist-packages/PyKDL.so

Modified guide & Example

use test as targeted conda environment

1. check env location

   $ conda activate test # or source activate test
   $ python -c "import site; print(''.join(site.getsitepackages()))"
   /home/he/miniconda3/envs/test/lib/python3.8/site-packages

   As a result, the targeted package installation path: /home/he/miniconda3/envs/test/lib/python3.8/site-packages

2. Follow the guide until step 5

   1. Clone the repository where you want
   2. Initialize the PyBind11 submodule: git submodule update --init
   3. Follow the mandatory instruction to compile the C++ library from orocos_kdl/INSTALL.md
   4. Create a new build folder (it is always better not to build in the source folder): mkdir build
   5. Go to the build folder cd build

   # step1
   git clone https://github.com/hibetterheyj/orocos_kinematics_dynamics.git
   # step2
   cd orocos_kinematics_dynamics
   git submodule update --init
   # step3
   sudo apt-get update
   sudo apt-get install libeigen3-dev libcppunit-dev
   sudo apt-get install python3-psutil python3-future
   # step4&5
   cd python_orocos_kdl
   mkdir build
   cd build

3. Execute cmake with specific python environment

   • DPYTHON_EXECUTABLE=/home/he/miniconda3/envs/test/bin/python

   • DPYTHON_INCLUDE_DIR=/home/he/miniconda3/envs/test/include/python3.8

   • DCMAKE_INSTALL_PREFIX=/home/he/miniconda3/envs/test

   $ pip install empy
   $ cmake build \
   -DPYTHON_EXECUTABLE=/home/he/miniconda3/envs/test/bin/python3.8 \
   -DPYTHON_INCLUDE_DIR=/home/he/miniconda3/envs/test/include/python3.8 \
   -DCMAKE_INSTALL_PREFIX=/home/he/miniconda3/envs/test \
   -ROS_PYTHON_VERSION=3 \
   ..
   $ make
   $ sudo make install

4. Finals

   • Add export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib into .bashrc

   • Execute ldconfig: sudo ldconfig

   • check PyKDL installation

     $ python -c "import PyKDL; print(PyKDL.Vector(1,2,3))"
     [           1,           2,           3]